#ifndef MINIMAL_NAV_PLUGIN_H
#define MINIMAL_NAV_PLUGIN_H

#include <nav_core/base_local_planner.h>
#include <nav_msgs/Path.h>
#include <tf/transform_listener.h>

class MinimalPlanner : public nav_core::BaseLocalPlanner
{
public:
	MinimalPlanner();
	//TestPlanner(std::string name, costmap_2d::Costmap2DROS* costmap_ros);

	/** overridden classes from interface nav_core::BaseGlobalPlanner **/
	void initialize(std::string name, tf::TransformListener *tf, costmap_2d::Costmap2DROS *costmap_ros);
	bool isGoalReached();
	bool setPlan(const std::vector<geometry_msgs::PoseStamped> &plan);
	bool computeVelocityCommands(geometry_msgs::Twist &cmd_vel);

	~MinimalPlanner();

private:
	ros::Time tg;
	unsigned int old_size;
	tf::TransformListener *handed_tf;
	};	

#endif
